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Robotic posterior capsule polishing by optical coherence tomography image guidance
Author(s) -
Gerber Matthew J.,
Hubschman JeanPierre,
Tsao TsuChin
Publication year - 2021
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2248
Subject(s) - optical coherence tomography , polishing , biomedical engineering , ex vivo , computer science , glue , artificial intelligence , medicine , computer vision , materials science , radiology , in vivo , microbiology and biotechnology , biology , composite material
Background In cataract surgery, polishing of the posterior capsule (PC) can lead to improved surgical outcomes but is currently avoided due to its high‐risk nature. This work developed a robotic system capable of performing PC polishing on ex vivo pig eyes using optical coherence tomography (OCT) guidance. Methods The lenses of five ex vivo pig eyes were extracted and a thin layer of glue deposited onto the PC. Transpupillary OCT scans of the anterior segment were used to generate a PC‐polishing trajectory. During polishing, OCT B‐scans tracked the tool tip and were displayed to the operator. Results Complete removal of the glue was accomplished in all five trials with no PC rupture reported. Conclusions The feasibility of using a robotic system guided by OCT to perform PC polishing on a biological model was demonstrated. Contributions include modelling of the PC anatomy, intraoperative OCT visualization, and automated tool‐tip motion with scheduled aspiration pressures.